### Starting build procedure for model: DMP_MPU6050
Code Generation 2 1
Elapsed: 8 sec
### Generating code into build folder: D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw
Source 'DMP_MPU6050/S-Function Builder' specifies that its sample time (-1) is back-inherited. You should explicitly specify the sample time of sources. You can disable this diagnostic by setting the 'Source block specifies -1 sample time' diagnostic to 'none' in the Sample Time group on the Diagnostics pane of the Configuration Parameters dialog box.
Component: Simulink | Category: Block warning
### Invoking Target Language Compiler on DMP_MPU6050.rtw
### Using System Target File: C:\Program Files\MATLAB\R2015b\rtw\c\ert\ert.tlc
### Loading TLC function libraries
### Initial pass through model to cache user defined code
### Caching model source code
### Writing header file DMP_MPU6050.h
### Writing header file DMP_MPU6050_types.h
### Writing header file rtwtypes.h
### Writing header file multiword_types.h
.
### Writing source file DMP_MPU6050.c
### Writing header file DMP_MPU6050_private.h
### Writing header file rtmodel.h
### Writing source file ert_main.c
### TLC code generation complete.
### Generating TLC interface API.
### Creating data type transition file DMP_MPU6050_dt.h
### Evaluating PostCodeGenCommand specified in the model
### Using toolchain: Arduino AVR v1.6.1 | gmake (64-bit Windows)
### 'D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw\DMP_MPU6050.mk' is up to date
### Building 'DMP_MPU6050': C:\PROGRA~1\MATLAB\R2015b\bin\win64\gmake -f DMP_MPU6050.mk all
C:/MATLAB/SupportPackages/R2015b/arduino-1.6.1/hardware/tools/avr/bin/avr-gcc -c -g -w -ffunction-sections -fdata-sections -MMD -DARDUINO=10601 -Os -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR -D_RUNONTARGETHARDWARE_BUILD_ -D_ROTH_MEGA2560_ -DMODEL=DMP_MPU6050 -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DON_TARGET_WAIT_FOR_START=1 -DONESTEPFCN=1 -DEXT_MODE=1 -DTERMFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DRT -DSTACK_SIZE=64 -DMW_TIMERID=5 -DMW_PRESCALAR=1024 -DMW_TIMERCOUNT=64911 -DMW_SCHEDULERCOUNTER=1 -D_RTT_BAUDRATE_SERIAL0_=115200 -D_RTT_BAUDRATE_SERIAL1_=9600 -D_RTT_BAUDRATE_SERIAL2_=9600 -D_RTT_BAUDRATE_SERIAL3_=9600 -D_RTT_ANALOG_REF_=0 -DONESTEPFCN=1 -DEXT_MODE=1 -DTERMFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DON_TARGET_WAIT_FOR_START=1 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DRT -DSTACK_SIZE=64 -DMODEL=DMP_MPU6050 -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -ID:/Matlab/MatArduino/SFunctions/DMP_MPU6050/DMP_MPU6050_ert_rtw -ID:/Matlab/MatArduino/SFunctions/DMP_MPU6050 -IC:/PROGRA~1/MATLAB/R2015b/extern/include -IC:/PROGRA~1/MATLAB/R2015b/simulink/include -IC:/PROGRA~1/MATLAB/R2015b/rtw/c/src -IC:/PROGRA~1/MATLAB/R2015b/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2015b/rtw/c/ert -IC:/PROGRA~1/MATLAB/R2015b/toolbox/coder/rtiostream/src/utils -IC:/MATLAB/SupportPackages/R2015b/arduino-1.6.1/hardware/arduino/avr/cores/arduino -IC:/MATLAB/SupportPackages/R2015b/arduino-1.6.1/hardware/arduino/avr/variants/mega -IC:/MATLAB/SupportPackages/R2015b/arduino/toolbox/target/supportpackages/arduinotarget/registry/../include -IC:/MATLAB/SupportPackages/R2015b/arduino/toolbox/target/supportpackages/arduinotarget/registry/../scheduler/include -IC:/MATLAB/SupportPackages/R2015b/arduinobase/toolbox/target/supportpackages/arduinobase/include -o "DMP_MPU6050.o" "DMP_MPU6050.c"
C:/MATLAB/SupportPackages/R2015b/arduino-1.6.1/hardware/tools/avr/bin/avr-gcc -c -g -w -ffunction-sections -fdata-sections -MMD -DARDUINO=10601 -Os -mmcu=atmega2560 -DF_CPU=16000000L -DARDUINO_AVR_MEGA2560 -DARDUINO_ARCH_AVR -D_RUNONTARGETHARDWARE_BUILD_ -D_ROTH_MEGA2560_ -DMODEL=DMP_MPU6050 -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -DON_TARGET_WAIT_FOR_START=1 -DONESTEPFCN=1 -DEXT_MODE=1 -DTERMFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -D__MW_TARGET_USE_HARDWARE_RESOURCES_H__ -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DRT -DSTACK_SIZE=64 -DMW_TIMERID=5 -DMW_PRESCALAR=1024 -DMW_TIMERCOUNT=64911 -DMW_SCHEDULERCOUNTER=1 -D_RTT_BAUDRATE_SERIAL0_=115200 -D_RTT_BAUDRATE_SERIAL1_=9600 -D_RTT_BAUDRATE_SERIAL2_=9600 -D_RTT_BAUDRATE_SERIAL3_=9600 -D_RTT_ANALOG_REF_=0 -DONESTEPFCN=1 -DEXT_MODE=1 -DTERMFCN=1 -DMAT_FILE=0 -DMULTI_INSTANCE_CODE=0 -DINTEGER_CODE=0 -DMT=0 -DCLASSIC_INTERFACE=0 -DALLOCATIONFCN=0 -DTID01EQ=0 -DON_TARGET_WAIT_FOR_START=1 -DEXIT_FAILURE=1 -DEXTMODE_DISABLEPRINTF -DEXTMODE_DISABLETESTING -DEXTMODE_DISABLE_ARGS_PROCESSING=1 -DRT -DSTACK_SIZE=64 -DMODEL=DMP_MPU6050 -DNUMST=1 -DNCSTATES=0 -DHAVESTDIO -ID:/Matlab/MatArduino/SFunctions/DMP_MPU6050/DMP_MPU6050_ert_rtw -ID:/Matlab/MatArduino/SFunctions/DMP_MPU6050 -IC:/PROGRA~1/MATLAB/R2015b/extern/include -IC:/PROGRA~1/MATLAB/R2015b/simulink/include -IC:/PROGRA~1/MATLAB/R2015b/rtw/c/src -IC:/PROGRA~1/MATLAB/R2015b/rtw/c/src/ext_mode/common -IC:/PROGRA~1/MATLAB/R2015b/rtw/c/ert -IC:/PROGRA~1/MATLAB/R2015b/toolbox/coder/rtiostream/src/utils -IC:/MATLAB/SupportPackages/R2015b/arduino-1.6.1/hardware/arduino/avr/cores/arduino -IC:/MATLAB/SupportPackages/R2015b/arduino-1.6.1/hardware/arduino/avr/variants/mega -IC:/MATLAB/SupportPackages/R2015b/arduino/toolbox/target/supportpackages/arduinotarget/registry/../include -IC:/MATLAB/SupportPackages/R2015b/arduino/toolbox/target/supportpackages/arduinotarget/registry/../scheduler/include -IC:/MATLAB/SupportPackages/R2015b/arduinobase/toolbox/target/supportpackages/arduinobase/include -o "ert_main.o" "ert_main.c"
"### Creating standalone executable "../DMP_MPU6050.elf" ..."
C:/MATLAB/SupportPackages/R2015b/arduino-1.6.1/hardware/tools/avr/bin/avr-gcc -w -Os -Wl,--gc-sections,--relax -mmcu=atmega2560 -o ../DMP_MPU6050.elf DMP_MPU6050.o ext_svr.o updown.o ext_work.o rtiostream_utils.o DMP_MPU6050S_wrapper.o hooks.o WInterrupts.o wiring.o wiring_analog.o wiring_digital.o wiring_pulse.o wiring_shift.o abi.o CDC.o HardwareSerial.o HardwareSerial0.o HardwareSerial1.o HardwareSerial2.o HardwareSerial3.o HID.o IPAddress.o new.o Print.o Stream.o Tone.o USBCore.o WMath.o WString.o MW_ArduinoHWInit.o io_wrappers.o arduinoAVRScheduler.o ext_serial_pkt.o rtiostream_serial_interface.o ext_svr_serial_transport.o rtiostream_serial.o ert_main.o -lm
DMP_MPU6050S_wrapper.o: In function `MPU6050::dmpInitialize()':
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:328: undefined reference to `MPU6050::reset()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:339: undefined reference to `MPU6050::setSleepEnabled(bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:343: undefined reference to `MPU6050::setMemoryBank(unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:345: undefined reference to `MPU6050::setMemoryStartAddress(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:350: undefined reference to `MPU6050::setMemoryBank(unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:359: undefined reference to `MPU6050::getXGyroOffsetTC()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:360: undefined reference to `MPU6050::getYGyroOffsetTC()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:361: undefined reference to `MPU6050::getZGyroOffsetTC()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:371: undefined reference to `MPU6050::setSlaveAddress(unsigned char, unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:373: undefined reference to `MPU6050::setI2CMasterModeEnabled(bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:375: undefined reference to `MPU6050::setSlaveAddress(unsigned char, unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:377: undefined reference to `MPU6050::resetI2CMaster()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:384: undefined reference to `MPU6050::writeProgMemoryBlock(unsigned char const*, unsigned int, unsigned char, unsigned char, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:391: undefined reference to `MPU6050::writeProgDMPConfigurationSet(unsigned char const*, unsigned int)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:395: undefined reference to `MPU6050::setClockSource(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:398: undefined reference to `MPU6050::setIntEnabled(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:401: undefined reference to `MPU6050::setRate(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:404: undefined reference to `MPU6050::setExternalFrameSync(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:407: undefined reference to `MPU6050::setDLPFMode(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:410: undefined reference to `MPU6050::setFullScaleGyroRange(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:414: undefined reference to `MPU6050::setDMPConfig1(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:416: undefined reference to `MPU6050::setDMPConfig2(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:419: undefined reference to `MPU6050::setOTPBankValid(bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:422: undefined reference to `MPU6050::setXGyroOffsetTC(signed char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:423: undefined reference to `MPU6050::setYGyroOffsetTC(signed char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:424: undefined reference to `MPU6050::setZGyroOffsetTC(signed char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:435: undefined reference to `MPU6050::writeMemoryBlock(unsigned char const*, unsigned int, unsigned char, unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:439: undefined reference to `MPU6050::writeMemoryBlock(unsigned char const*, unsigned int, unsigned char, unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:439: undefined reference to `MPU6050::resetFIFO()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:442: undefined reference to `MPU6050::getFIFOCount()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:450: undefined reference to `MPU6050::getFIFOBytes(unsigned char*, unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:453: undefined reference to `MPU6050::setMotionDetectionThreshold(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:456: undefined reference to `MPU6050::setZeroMotionDetectionThreshold(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:459: undefined reference to `MPU6050::setMotionDetectionDuration(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:462: undefined reference to `MPU6050::setZeroMotionDetectionDuration(unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:462: undefined reference to `MPU6050::resetFIFO()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:468: undefined reference to `MPU6050::setFIFOEnabled(bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:471: undefined reference to `MPU6050::setDMPEnabled(bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:471: undefined reference to `MPU6050::resetDMP()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:478: undefined reference to `MPU6050::writeMemoryBlock(unsigned char const*, unsigned int, unsigned char, unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:482: undefined reference to `MPU6050::writeMemoryBlock(unsigned char const*, unsigned int, unsigned char, unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:486: undefined reference to `MPU6050::writeMemoryBlock(unsigned char const*, unsigned int, unsigned char, unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:486: undefined reference to `MPU6050::getFIFOCount()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:494: undefined reference to `MPU6050::getFIFOBytes(unsigned char*, unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:503: undefined reference to `MPU6050::readMemoryBlock(unsigned char*, unsigned int, unsigned char, unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:503: undefined reference to `MPU6050::getFIFOCount()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:512: undefined reference to `MPU6050::getFIFOBytes(unsigned char*, unsigned char)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:521: undefined reference to `MPU6050::writeMemoryBlock(unsigned char const*, unsigned int, unsigned char, unsigned char, bool, bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:526: undefined reference to `MPU6050::setDMPEnabled(bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:529: undefined reference to `MPU6050::resetFIFO()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../MPU6050_6Axis_MotionApps20.h:535: undefined reference to `MPU6050::getIntStatus()'
DMP_MPU6050S_wrapper.o: In function `DMP_MPU6050S_Outputs_wrapper':
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:91: undefined reference to `MPU6050::getIntStatus()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:94: undefined reference to `MPU6050::getFIFOCount()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:99: undefined reference to `MPU6050::resetFIFO()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:105: undefined reference to `MPU6050::getFIFOCount()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:108: undefined reference to `MPU6050::getFIFOBytes(unsigned char*, unsigned char)'
DMP_MPU6050S_wrapper.o: In function `DMP_MPU6050S_Update_wrapper':
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:159: undefined reference to `MPU6050::initialize()'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:166: undefined reference to `MPU6050::setXGyroOffset(int)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:167: undefined reference to `MPU6050::setYGyroOffset(int)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:168: undefined reference to `MPU6050::setZGyroOffset(int)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:169: undefined reference to `MPU6050::setZAccelOffset(int)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:172: undefined reference to `MPU6050::setDMPEnabled(bool)'
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:177: undefined reference to `MPU6050::getIntStatus()'
DMP_MPU6050S_wrapper.o: In function `__static_initialization_and_destruction_0':
D:\Matlab\MatArduino\SFunctions\DMP_MPU6050\DMP_MPU6050_ert_rtw/../DMP_MPU6050S_wrapper.cpp:196: undefined reference to `MPU6050::MPU6050()'
collect2.exe: error: ld returned 1 exit status
gmake: *** [../DMP_MPU6050.elf] Error 1
### Build procedure for model: 'DMP_MPU6050' aborted due to an error.
Error(s) encountered while building "DMP_MPU6050":
### Failed to generate all binary outputs.
Component: Simulink | Category: Model error
/*
* Include Files
*
*/
#if defined(MATLAB_MEX_FILE)
#include "tmwtypes.h"
#include "simstruc_types.h"
#else
#include "rtwtypes.h"
#endif
/*
#ifndef MATLAB_MEX_FILE
#define ARDUINO 100
#include <math.h>
#include <Arduino.h>
#include "Wire.h"
#include "Wire.cpp"
#include "twi.c"
#include "twi.h"
#include "I2Cdev.h"
#include "I2Cdev.cpp"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include <Wire.h>
#endif
MPU6050 mpu;
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
//float w,x,y,z;
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
#endif
/*
#define y_width 1
/*
* Create external references here.
*
*/
/*
/* extern double func(double a); */
/*
/*
* Output functions
*
*/
extern "C" void DMP_MPU6050S_Outputs_wrapper(real_T *w,
real_T *x,
real_T *y,
real_T *z,
const real_T *xD)
{
/*
if (xD[0] == 1)
{
#ifndef MATLAB_MEX_FILE
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
w[0]=q.w;
x[0]=q.x;
y[0]=q.y;
z[0]=q.z;
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
#endif
}
/*
}
/*
* Updates function
*
*/
extern "C" void DMP_MPU6050S_Update_wrapper(const real_T *w,
const real_T *x,
const real_T *y,
const real_T *z,
real_T *xD)
{
/*
if(xD[0] != 1)
{
#ifndef MATLAB_MEX_FILE
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200);
while (!Serial);
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// load and configure the DMP
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
#endif
//done initialization
xD[0] = 1;
}
/*
}
